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| author | Thomas Gubler <thomasgubler@gmail.com> | 2015-01-10 19:14:23 +0100 |
|---|---|---|
| committer | Thomas Gubler <thomasgubler@gmail.com> | 2015-01-10 19:14:23 +0100 |
| commit | 6580d66d45cfb4b251e3b0f32b61161ee0d14ecb (patch) | |
| tree | 930450d5cb1cf3771a6e69ec651e0a313d18aa11 /launch | |
| parent | aa8555c02b48ec5864a4dbbec6f38fbae6f73c7c (diff) | |
| download | px4-firmware-6580d66d45cfb4b251e3b0f32b61161ee0d14ecb.tar.gz px4-firmware-6580d66d45cfb4b251e3b0f32b61161ee0d14ecb.tar.bz2 px4-firmware-6580d66d45cfb4b251e3b0f32b61161ee0d14ecb.zip | |
ros sim: use ardrone model
Diffstat (limited to 'launch')
| -rw-r--r-- | launch/gazebo_multicopter.launch | 2 | ||||
| -rw-r--r-- | launch/multicopter.launch | 6 |
2 files changed, 4 insertions, 4 deletions
diff --git a/launch/gazebo_multicopter.launch b/launch/gazebo_multicopter.launch index febf7bdc0..8091e3ff2 100644 --- a/launch/gazebo_multicopter.launch +++ b/launch/gazebo_multicopter.launch @@ -1,6 +1,6 @@ <launch> -<include file="$(find mav_gazebo)/launch/vtol_empty_world_with_joy.launch" /> +<include file="$(find mav_gazebo)/launch/ardrone_empty_world_with_joy.launch" /> <include file="$(find px4)/launch/multicopter.launch" /> </launch> diff --git a/launch/multicopter.launch b/launch/multicopter.launch index 9956c871d..0a4b8c26d 100644 --- a/launch/multicopter.launch +++ b/launch/multicopter.launch @@ -14,9 +14,9 @@ <param name="MC_ROLLRATE_D" type="double" value="0.0" /> <param name="MC_PITCHRATE_P" type="double" value="0.05" /> <param name="MC_PITCHRATE_D" type="double" value="0.0" /> - <param name="MC_YAW_FF" type="double" value="0.0" /> - <param name="MC_YAW_P" type="double" value="1.0" /> - <param name="MC_YAWRATE_P" type="double" value="0.2" /> + <param name="MC_YAW_FF" type="double" value="0" /> + <param name="MC_YAW_P" type="double" value="5.0" /> + <param name="MC_YAWRATE_P" type="double" value="0.5" /> <param name="MC_MAN_R_MAX" type="double" value="10.0" /> <param name="MC_MAN_P_MAX" type="double" value="10.0" /> </group> |